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During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…
We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Combining symbolic and geometric reasoning in multi-agent systems is a challenging task that involves planning, scheduling, and synchronization problems. Existing works overlooked the variability of task duration and geometric feasibility…
This paper develops a planner that plans the action sequences and motion for a dual-arm robot to lift up and flip heavy plates using crane pulley blocks. The problem is motivated by the low payload of modern collaborative robots. Instead of…
In this thesis, we aim to improve the performance of TAMP algorithms from three complementary perspectives. First, we investigate the integration of discrete task planning with continuous trajectory optimization. Our main contribution is a…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However,…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
This paper presents a new trajectory replanner for grasping irregular objects. Unlike conventional grasping tasks where the object's geometry is assumed simple, we aim to achieve a "dynamic grasp" of the irregular objects, which requires…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on which we define planning for in-hand manipulation and…
When using sampling-based motion planners, such as PRMs, in configuration spaces, it is difficult to determine how many samples are required for the PRM to find a solution consistently. This is relevant in Task and Motion Planning (TAMP),…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…